相关论文: Deriving The Fundamental Equation of Earthmoving a…
Accurate slope stability analysis of earth embankments under ground shaking is of great importance for practical use in earthquake geotechnics. This study aims to predict soil slope displacements of earth embankments subjected to earthquake…
When we move on snow, sand, or mud, the ground deforms under our feet, immediately affecting our gait. We propose a physically based model for computing such interactions in real time, from only the kinematic motion of a virtual character.…
Terramechanics plays a critical role in the areas of ground vehicles and ground mobile robots since understanding and estimating the variables influencing the vehicle-terrain interaction may mean the success or the failure of an entire…
Existing earthmoving autonomy is largely confined to highly controlled and well-characterized environments due to the complexity of vehicle-terrain interaction dynamics and the partial observability of the terrain resulting from unknown and…
Recently, there has been a surge of international interest in extraterrestrial exploration targeting the Moon, Mars, the moons of Mars, and various asteroids. This contribution discusses how current state-of-the-art Earth-based testing for…
This work presents a new vortex dynamic equation for quasi-geostrophic flows over strongly variable sediment bottoms. The equation considers erosion/deposition exchanges near the bottom and the geometrical changes of the bed interface,…
Validation is often defined as the process of determining the degree to which a model is an accurate representation of the real world from the perspective of its intended uses. Validation is crucial as industries and governments depend…
Understanding the propagation and attenuation patterns of ground vibrations is critical for evaluating the impact of environmental disturbances on large-scale scientific facilities. However, complex site conditions often result in intricate…
The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties is thus essential for robotic navigation. Ideally any map…
Accurate prediction of excavation forces is critical for enabling autonomous operation and optimizing control strategies in earthmoving machinery. Conventional approaches often depend on extensive data collection or computationally…
Data-driven machine-learning for predicting instantaneous and future fault-slip in laboratory experiments has recently progressed markedly due to large training data sets. In Earth however, earthquake interevent times range from 10's-100's…
Estimates of seismic wave speeds in the Earth (seismic velocity models) are key input parameters to earthquake simulations for ground motion prediction. Owing to the non-uniqueness of the seismic inverse problem, typically many velocity…
We derive an exact equation of motion for a non-relativistic vortex in two- and three-dimensional models with a complex field. The velocity is given in terms of gradients of the complex field at the vortex position. We discuss the problem…
Estimating motion from spatiotemporal geoscientific data is a fundamental component of many environmental modeling and forecasting tasks. In this work, we propose a physics-informed deep learning framework for estimating altitude-wise…
Spatial grounding, the process of associating natural language expressions with corresponding image regions, has rapidly advanced due to the introduction of transformer-based models, significantly enhancing multimodal representation and…
A multiscale model for real-time simulation of terrain dynamics is explored. To represent the dynamics on different scales the model combines the description of soil as a continuous solid, as distinct particles and as rigid multibodies. The…
The ground structure can substantially influence seismic ground motion underscoring the need to develop a ground structure model with sufficient reliability in terms of ground motion estimation for earthquake damage mitigation. While many…
We designed and implemented our own versatile simulation software in order to understand the velocity changes and track patterns observed in slow moving vortex lattices. The data was obtained from time series of STM images on NbSe$_2$ in a…
In order to meet the requirements of practical applications, a model of deforming manifold in the embedded space is proposed. The deforming vector and deforming field are presented to precisely describe the deforming process, which have…
Understanding the nonlinear dynamics of magnetic vortices in spin-torque vortex oscillators (STVOs) is essential for their application in neuromorphic computing. Conventional modeling approaches either rely on the standard Thiele equation,…